/*
 * Copyright (C) 2014, Field and Service Robotics 2014, Group 6.
 *
 *  Collision detector
 */

#ifndef COLLISION_DETECTOR_H_
#define COLLISION_DETECTOR_H_

#include "ros/ros.h"

class Calibration
{
public:
    Calibration();
    ~Calibration(){}

    void readScan(const sensor_msgs::LaserScan::ConstPtr& scan);

    ros::Subscriber     mLaserScanSubscriber;
private:
    // ROS handles
    ros::NodeHandle     mNode;
    ros::ServiceServer  mSafeToMoveService;
    ros::Publisher      mObstacleApproachingPublisher;

};

#endif